Three-dimensional scanning device

Abstract

The embodiments of the present disclosure provide a three-dimensional scanning device. The three-dimensional scanning device comprises a housing, the housing comprising a body, the body comprising an annular recess and a hemispherical protrusion located on one side of the annular recess in the axial direction; a plurality of imaging units accommodated in the housing, and the imaging units acquire image data radially outward of the annular recess; a point cloud generation unit at least partially arranged in the hemispherical protrusion, and adapted to acquire point cloud data, the point cloud normal being at a non-zero angle with the normal plane where the imaging normals of the plurality of imaging units are located; and a driving unit adapted to drive the plurality of imaging units and the point cloud generation unit to rotate around the rotation axis, and comprising a disc-shaped part exposed to the outside of the housing from the opening of the bottom of the housing and flush with the bottom of the housing. The three-dimensional scanning device according to the embodiments of the present disclosure can more efficiently complete the full-space scanning, and has a compact size and stable performance.

Description

TECHNICAL FIELD

[0001] Example embodiments of the present disclosure generally relate to a three-dimensional scanning device. BACKGROUND

[0002] A three-dimensional scanning device is a scientific instrument that utilizes three-dimensional scanning technology to detect and analyze the shape and appearance data of objects or environments in the real world. The significance of three-dimensional scanning technology in practical applications is to realize the conversion of three-dimensional information of real objects into digital signals that can be recognized and directly processed by computers, realizing non-contact measurement of objects. The data collected by the three-dimensional scanning device is often used for three-dimensional reconstruction calculation to create a digital model of the actual object in the virtual world. One of the uses of the three-dimensional scanning device is to establish a point cloud of the geometric surface of the object, and these points can be used to interpolate the surface shape of the object. The denser the point cloud, the more accurate the model can be established (this process is called three-dimensional reconstruction). If the scanner can obtain the surface color, it can further paste the material map on the reconstructed surface, that is, the so-called material imprinting.

[0003] The three-dimensional scanning device is also increasingly used in the measurement and scanning of house structures. For example, when scanning an indoor environment, the three-dimensional scanning device is usually placed at a fixed position inside the house to be scanned, and the optical detection part (including cameras and point cloud generation units, etc.) is usually driven by a driving component to rotate a full circle to complete the scanning of the room structure. SUMMARY

[0004] In a first aspect of the present disclosure, a three-dimensional scanning device is provided. The three-dimensional scanning device comprises: a housing comprising a body, the body comprising an annular recess and a hemispherical protrusion located on one side of the annular recess in an axial direction; a plurality of imaging units accommodated in the housing and configured to acquire image data within an imaging field of view centered on an imaging normal radially outward of the annular recess; a point cloud generation unit at least partially disposed in the hemispherical protrusion and adapted to acquire point cloud data of a point cloud field of view centered on a point cloud normal, the point cloud normal being at a non-zero angle with a normal plane in which the imaging normals of the plurality of imaging units lie; and a driving unit adapted to drive the plurality of imaging units and the point cloud generation unit to rotate around a rotation axis, and comprising a disc-shaped portion exposed to the outside of the housing from an opening at the bottom of the housing and flush with the bottom of the housing, the disc-shaped portion being adapted to be coupled with an external fixing component to fix the three-dimensional scanning device on the external fixing component.

[0005] According to the three-dimensional scanning device of the embodiments of the present disclosure, by making the point cloud normal of the point cloud generating unit form a non-zero angle with the normal plane (for example, perpendicular to each other), the field of view of the imaging unit and the point cloud generating unit can not interfere with each other, thereby facilitating the compact arrangement of the imaging unit and the point cloud generating unit, and promoting the miniaturization of the three-dimensional scanning device. In addition, by arranging the imaging unit in the annular recess of the shell, the imaging unit can be better protected without blocking the imaging field of view of the imaging unit, avoiding damage to the imaging unit by knocking, thereby improving the reliability of the three-dimensional scanning device.

[0006] In some embodiments, the plurality of imaging normals of the plurality of imaging units intersect at a normal intersection point. Such an arrangement can effectively reduce the workload and computational complexity of the subsequent calibration of each imaging unit and data processing, and further improve the scanning range and reliability of the three-dimensional scanning device. In some embodiments, the point cloud normal passes through the normal intersection point. The point cloud normal of the point cloud generating unit passing through the normal intersection point of the imaging normal of the imaging unit can significantly reduce the difficulty of subsequent calibration of the point cloud generating unit and the imaging unit and data fusion, thereby improving the reliability of the three-dimensional scanning device.

[0007] In some embodiments, the normal plane on which the plurality of imaging normals of the plurality of imaging units lies is a plane, and the point cloud normal is perpendicular to the normal plane. In this way, the field of view interference between the imaging unit and the point cloud generating unit can be avoided as much as possible, and the reasonable layout of the three-dimensional scanning device is promoted, so that the three-dimensional scanning device is more compact.

[0008] In some embodiments, the normal plane on which the plurality of imaging normals of the plurality of imaging units lies is a conical surface, and the point cloud normal is collinear with the center line of the conical surface. In this way, while facilitating the compact arrangement of the imaging unit and the point cloud generating unit, the field of view overlap of the imaging unit and the point cloud generating unit and the subsequent parameter calibration are also promoted, and further the data fusion quality is improved.

[0009] In some embodiments, the body further comprises: a first vent hole arranged on the side of the annular recess away from the hemispherical protrusion in the axial direction. By arranging in this way, the airflow can pass through the imaging unit, thereby effectively reducing the heat generated by the imaging unit and other coupled components, and further improving the thermal reliability of the three-dimensional scanning device.

[0010] In some embodiments, the body further comprises: a second vent hole formed around the hemispherical protrusion. In this way, an airflow can be formed around the point cloud generating unit, thereby effectively reducing the temperature of the point cloud generating unit and maintaining the reliability of the point cloud generating unit.

[0011] In some embodiments, the annular recess is recessed between the first and second protruding portions of the body, and wherein the first protruding portion is located between the annular recess and the hemispherical protruding portion, and the first vent hole is arranged at an end of the second protruding portion in an axial direction of the annular recess. In this way, a continuous airflow can be introduced between the imaging unit and the point cloud generating unit, so that the imaging unit and the point cloud generating unit can be further effectively cooled.

[0012] In some embodiments, the three-dimensional scanning device further comprises a mounting device arranged in the housing and comprising a camera mounting bracket in a ring structure and comprising a plurality of positioning portions arranged in a circumferential direction for positioning a plurality of imaging units such that the plurality of imaging units are arranged in a circumferential direction. By using the camera mounting bracket with a plurality of positioning portions, the mounting positions of the imaging units can be effectively ensured, so that the imaging normals of the imaging units can be ensured to intersect at the normal intersection point.

[0013] In some embodiments, the mounting device further comprises a main mounting bracket comprising a first alignment structure and a radar mounting portion adapted to arrange the point cloud generating unit, and the camera mounting bracket comprises a second alignment structure adapted to be coupled with the first alignment structure so that the point cloud normal of the point cloud generating unit passes through the normal intersection point. By this arrangement, the positional relationship between the point cloud generating unit and the imaging units can be ensured in a simple and reliable manner, i.e., the point cloud normal passes through the normal intersection point, so that the difficulty of later point cloud generating unit and imaging unit calibration and data fusion can be significantly reduced.

[0014] In some embodiments, the mounting device further comprises a gimbal mounting bracket arranged at an end of the main mounting bracket opposite to the camera mounting bracket and located at the same side as the camera mounting bracket, and wherein the driving unit is fixed to the main mounting bracket via the gimbal mounting bracket to drive the plurality of imaging units and the point cloud generating unit to rotate along the rotation axis via the main mounting bracket. By using the gimbal mounting bracket, the positional relationship between the driving unit and the imaging units and the point cloud generating unit can be ensured in a simple and reliable manner.

[0015] In some embodiments, the rotation axis is perpendicular to the point cloud normal and passes through the normal intersection point. In this way, the parallax that may occur during rotation of the imaging units and the point cloud generating unit around the rotation axis can be effectively alleviated or eliminated, thereby reducing the subsequent data processing workload and improving the creation effect of the model.

[0016] In an embodiment, the shell further comprises a bottom cover coupled to a bottom of the body distal to the annular recess, the bottom cover comprising a third vent formed at the bottom of the shell. By providing the third vent, the airflow along the longitudinal direction of the shell can be effectively promoted, so that the heat of the circuit board and the components such as the processing unit thereon located at the middle of the shell can be effectively taken away, and thus the reliability of the three-dimensional scanner can be effectively improved.

[0017] In some embodiments, the gimbal mounting bracket comprises a pair of mounting bodies symmetrically arranged based on the center of the mounting device for the driving unit to be arranged therebetween. In this way, the accuracy of the mounting position of the driving unit can be ensured with a simple structure, so that the accuracy of the model output by the three-dimensional scanning device is ultimately improved.

[0018] In some embodiments, the camera mounting bracket is arranged at a predetermined distance from the main mounting bracket. With this arrangement, the airflow is ensured to be unobstructed, so that the imaging unit, the point cloud generation unit, and the circuit board and other components can be effectively cooled, thereby further improving the reliability of the three-dimensional scanning device.

[0019] In some embodiments, the main mounting bracket comprises a through hole for the airflow to pass through. The through hole can further ensure the unobstructed airflow, and in particular, can provide effective heat dissipation for the circuit board and the components thereon.

[0020] In some embodiments, the main mounting bracket further comprises a first heat dissipation rib arranged at a side adjacent to the camera mounting bracket and extending in the direction of the airflow. The first heat dissipation rib can increase the heat dissipation area of the heat generating components of the imaging unit, thereby further effectively cooling the imaging unit.

[0021] In some embodiments, the main mounting bracket and the camera mounting bracket are respectively integrally formed. The use of the main mounting bracket and the camera mounting bracket respectively integrally formed can improve the strength of the two brackets while ensuring the accuracy of manufacturing and assembly and reducing the assembly difficulty. BRIEF DESCRIPTION OF DRAWINGS

[0022] The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent upon consideration of the following detailed description, taken in conjunction with the accompanying drawings. In the drawings, like reference numerals refer to like elements, and in which:

[0023] Figure 1 A side view of a three-dimensional scanning device according to an embodiment of the present disclosure is shown;

[0024] Figure 2 A perspective view of a three-dimensional scanning device according to an embodiment of the present disclosure is shown;

[0025] Figure 3A perspective view of the three-dimensional scanning device according to an embodiment of the present disclosure is shown from another angle;

[0026] Figure 4 A front view of a mounting device of the three-dimensional scanning device according to an embodiment of the present disclosure is shown;

[0027] Figure 5 A side view of a mounting device of the three-dimensional scanning device according to an embodiment of the present disclosure is shown;

[0028] Figure 6 A perspective view of a mounting device of the three-dimensional scanning device according to an embodiment of the present disclosure is shown; and

[0029] Figure 7 An exploded view of a mounting device of the three-dimensional scanning device according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0030] Embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. While the present disclosure is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that there is no intent to limit the present disclosure to the particular embodiments disclosed, but on the contrary, the intent is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present disclosure. The drawings are for the purpose of exemplary description only and are not intended as limiting the scope of the present disclosure.

[0031] In the description of embodiments of the present disclosure, the term "including" and its derivatives, shall be understood as comprising, i.e., open-ended, and do not exclude the presence of additional elements. The term "based on" shall mean "based, at least in part, on." The term "one embodiment" or "an embodiment" shall mean "at least one embodiment." The term "first," "second," and the like, can refer to different or same objects. Other explicitly and implicitly recited definitions should be apparent to the skilled person.

[0032] Three-dimensional reconstruction technology is widely used in life. Three-dimensional scanning devices can be used to collect spatial image and depth information for three-dimensional reconstruction. Three-dimensional scanning devices, also known as three-dimensional cameras or virtual reality (VR) cameras, can be used to detect and analyze the shape (geometric structure) and appearance data (such as color, surface reflectivity, etc.) of objects or environments in the real world. Three-dimensional scanning devices for scanning room structures usually include laser cameras. Laser cameras, as important components of three-dimensional scanners, can realize non-contact data acquisition. Laser cameras generally include components such as a laser radar point cloud generation unit, an imaging unit such as a camera, a main control board, a gimbal motor, a battery, etc. The laser radar can be a two-dimensional radar or a three-dimensional radar for collecting point cloud data of objects or environments. The camera can be one or more devices for collecting RGB image data of objects or environments. Further, the RGB image data and the point cloud data are used to generate panoramic images and post-processed depth maps, three-dimensional models, etc. of the objects or environments.

[0033] The layout of the imaging unit 202 of the three-dimensional scanning device 200 according to the embodiments of the present disclosure is more reasonable, has a more compact size, and the imaging unit 202 can also be more reliably protected without affecting the imaging field of view.

[0034] The specific structure and improvement of the three-dimensional scanning device 200 according to the embodiments of the present disclosure will be described below in conjunction with the accompanying drawings. Figure 2 A side view of the three-dimensional scanning device 200 is shown, Figure 2 An external perspective view of the three-dimensional scanning device 200 is shown, Figure 3 A perspective view of the three-dimensional scanning device is shown from another angle; Figure 4 An internal view of the three-dimensional scanning device is shown. As Figures 1 to 4 shown, in general, the three-dimensional scanning device 200 according to the embodiments of the present disclosure includes a housing 201, a plurality of imaging units 202, a point cloud generation unit 203, and a driving unit 204.

[0035] As Figure 1 and Figure 2As shown, the housing 201 for accommodating the plurality of imaging units 202, the point cloud generation unit 203 and the driving unit 204 includes a body. The body includes an annular recessed portion 2011 and a hemispherical protruding portion 2012 located on one side of the annular recessed portion 2011 in the axial direction. In addition to the body, the housing 201 also includes a bottom cover. The bottom cover is arranged at the bottom of the body away from the annular recessed portion 2011, and is coupled to the body to form an accommodation space for accommodating various components of the three-dimensional scanning device 200. The point cloud generation unit 203 is at least partially arranged in the hemispherical protruding portion 2012. The hemispherical protruding portion 2012 can be made of a non-metallic material, so that the electromagnetic waves emitted and received by the point cloud generation unit 203 can pass through without any obstruction. The annular recessed portion 2011 has two protruding portions located at both ends in the axial direction. The two protruding portions are referred to as a first protruding portion 2015 and a second protruding portion 2016, respectively, hereinafter. By recessing the annular recessed portion 2011 a certain distance in the radial direction with respect to the first protruding portion 2015 and the second protruding portion 2016, the lens modules of the plurality of imaging units 202 can be better protected from being bumped or damaged.

[0036] The components of the point cloud generation unit 203, such as processing circuitry and heat dissipation unit, are at least partially accommodated in the first protruding portion 2015. The second protruding portion 2016 can be arranged substantially symmetrically with respect to the first protruding portion 2015 with respect to the annular recessed portion 2011, on the other side of the annular recessed portion 2011 in the axial direction away from the hemispherical protruding portion 2012. The second protruding portion 2016 can be used to accommodate components such as the main control circuit board of the three-dimensional scanning device 200.

[0037] A plurality of imaging windows 2018 arranged at intervals in the circumferential direction are formed on the annular recessed portion 2011, and correspond to the positions of the plurality of imaging units 202 arranged in the housing 201. In some embodiments, a transparent cover made of a material such as glass or plastic can be provided at the imaging window 2018 on the housing 201 for the imaging field of view 2022 of the imaging unit 202 to pass through, so as to better protect the lens modules of the imaging unit 202. As will be further described below, the plurality of imaging units 202 are positioned and fixed inside the housing 201 by the mounting device 100. Each imaging unit 202 can acquire image data of an object within the imaging field of view 2022 radially outward of the annular recessed portion 2011 through the corresponding imaging window 2018.

[0038] In some embodiments, the three-dimensional scanning device 200 can further comprise an ambient light sensor (not shown). The ambient light sensor detects the external light variation and flicker through a light sensing window 2019 disposed on the annular recess 2011. The three-dimensional scanning device 200 can thus adjust the parameters of the imaging unit 202, thereby helping to improve the imaging quality of the three-dimensional scanning device 200.

[0039] The driving unit 204 is configured to drive the imaging unit 202 and the point cloud generating unit 203 to rotate around the rotation axis R, thereby realizing circumferential full-space scanning. The driving unit 204 comprises a disc-shaped portion 2041. The disc-shaped portion 2041 is exposed to the outside of the housing 101 from an opening of the bottom (i.e., the bottom cover) of the housing 201 and is substantially flush with the outer surface of the bottom cover. The disc-shaped portion 2041 is adapted to be coupled with an external fixing member, such as a tripod, to fix the three-dimensional scanning device 200 on the external fixing member. In some embodiments, the driving unit 204 can further comprise a fixing portion. The fixing portion is fixedly arranged inside the housing 201. The disc-shaped portion 2041 is relatively rotatable with respect to the fixing portion. The disc-shaped portion 2041 can be coupled to a gimbal base of a tripod supporting the three-dimensional scanning device 200 and can be rotated around the rotation axis R under the driving of a power member, such as a motor. Since the tripod and the gimbal base are fixed and the disc-shaped portion 2041 is also fixed with respect to the tripod and the gimbal base, but the disc-shaped portion 2041 is rotatable with respect to the fixing portion. Therefore, under the driving of the motor, the disc-shaped portion 2041 and the fixing portion will relatively rotate, thereby driving the housing 201 and the imaging unit 202 and the point cloud generating unit 203 inside to rotate around the rotation axis R.

[0040] In some embodiments, the housing 201 comprises a first vent hole 2013 arranged on the side of the body away from the hemispherical protrusion 2012 in the axial direction of the annular recess 2011. The first vent hole 2013 comprises a plurality of small holes to effectively prevent foreign matter from entering the inside of the housing 201 while effectively ventilating. In some embodiments, a fan can be arranged at a position corresponding to the first vent hole 2013 inside the housing 201.

[0041] In some embodiments, as Figure 2 and Figure 3As shown, the body of the shell 201 further comprises a second vent hole 2014. The second vent hole 2014 is formed around the hemispherical protrusion 2012. In some embodiments, alternatively or additionally, a third vent hole 2017 can also be provided on the bottom cover. With the operation of the fan arranged at the first vent hole 2013, a negative pressure can be formed inside the shell, so that air flow can enter the inside of the shell 201 from the second vent hole 2014 and the third vent hole 2017. The air flow entering the inside of the shell 201 through the second vent hole 2014 and the third vent hole 2017 is effectively flowed in the shell and carries away the heat generated by the components in the shell, thereby providing effective heat dissipation for the components inside the three-dimensional scanning device 200, and thus improving the reliability of the three-dimensional scanning device 200.

[0042] Figure 4 and Figure 5 respectively schematically show the schematic diagrams of the imaging field of view 2022 centered on the imaging normal and the point cloud field of view 2031 centered on the point cloud normal at different viewing angles. From Figure 4 and Figure 5 As can be seen, the plurality of imaging normals 1022 in the plurality of imaging units 202 are arranged in a plane, which will be referred to as the normal plane hereinafter. Of course, it should be understood that the plurality of imaging normals 1022 can also not be located in the same plane, but in a conical plane. That is, in some embodiments, the normal plane where the plurality of imaging normals 1022 are located can also be a conical plane.

[0043] Figure 4 The embodiment shown comprises 4 imaging units 202, and the plurality of imaging normals 1022 of the 4 imaging units 202 intersect at a point, i.e., the normal intersection point 1023. This arrangement can eliminate the parallax that can exist in the plurality of imaging units 202, thereby reducing the difficulty of stitching the panoramic image, and thus improving the imaging effect of the panoramic image.

[0044] In some embodiments, the plurality of imaging units 202 are arranged circumferentially with their imaging normals 1022 distributed in a predetermined angular range of 180°-240° on the circumference. For example, in some embodiments, the imaging normals 1022 of the plurality of imaging units 202 can be distributed in an angular range of about 220° on the circumference. As long as the imaging field of view centered on the imaging normal 1022 of the plurality of imaging units 202 can at least partially overlap, the plurality of imaging normals 1022 can be arranged at equal angles between each other, or can not be arranged at equal angles. The overlapping arrangement of the imaging field of view is conducive to the calibration of the plurality of imaging units 202 and the stitching of the acquired image data.

[0045] In the embodiment where the imaging normals 1022 of the plurality of imaging units 202 are distributed in an angular range of about 220° in the circumferential direction, the four imaging units 202 can collect image data in a range of about 320° in the circumferential direction, except for a partial blind area at the bottom, for imaging units 202 with a longitudinal field of view angle of about 100°. That is, when the three-dimensional scanning device 200 is in a stationary state, the four imaging units 202 can collect image data of substantially the entire circumference from front to back. In this case, only a half rotation (180°) of the four imaging units 202 around the rotation axis R is needed to collect image data in the entire spatial range. Compared with the conventional three-dimensional scanning device 200 that needs to rotate a full circle to collect full spatial data, the three-dimensional scanning device 200 according to the embodiment of the present disclosure can greatly reduce the number of required collection angles, thereby improving scanning efficiency while reducing errors caused by multiple mosaics.

[0046] The normal plane in which the point cloud normal 1011 of the point cloud generation unit 203 of the three-dimensional scanning device 200 according to the embodiment of the present disclosure and the imaging normal 1022 are located is not parallel or coplanar, but has a non-zero angle. In some embodiments, as shown in FIG. 1A, the normal plane is a plane. In this case, the point cloud normal 1011 is perpendicular to the normal plane. This arrangement is conducive to the compact arrangement of the imaging unit 202 and the point cloud generation unit 203, thereby facilitating the miniaturization of the three-dimensional scanning device 200. Figure 4 and Figure 5 As shown in FIG. 1A, in the case where the normal plane is a plane, the point cloud normal 1011 is perpendicular to the normal plane. This arrangement is conducive to the compact arrangement of the imaging unit 202 and the point cloud generation unit 203, thereby facilitating the miniaturization of the three-dimensional scanning device 200.

[0047] As mentioned above, the normal plane in which the plurality of imaging normals 1022 are located can also be a conical surface. In this case, the point cloud normal 1011 can be arranged to be collinear with the center line of the conical surface. This arrangement is also conducive to the compact arrangement of the imaging unit 202 and the point cloud generation unit 203, and further facilitates the field of view overlap of the imaging unit 202 and the point cloud generation unit 203 and subsequent parameter calibration, and thereby facilitates the improvement of data fusion quality.

[0048] In some embodiments, the point cloud normal 1011 passes through the normal intersection point 1023 where the plurality of imaging normals 1022 of the plurality of imaging units 202 intersect. This arrangement can effectively reduce or eliminate the parallax between the imaging unit 202 and the point cloud generation unit 203, thereby improving the effect of data processing, reducing the workload of image data and point cloud data processing, and thereby obtaining a better spatial model.

[0049] As can be seen from Figure 4 the imaging field of view of the plurality of imaging units 202 is in a range of about 320° in the circumferential direction, and the point cloud generation unit 203 can collect image data in a range of about 360° in the circumferential direction, except for a partial blind area at the bottom. That is, when the three-dimensional scanning device 200 is in a stationary state, the four imaging units 202 can collect image data of substantially the entire circumference from front to back. In this case, only a half rotation (180°) of the four imaging units 202 around the rotation axis R is needed to collect image data in the entire spatial range. Compared with the conventional three-dimensional scanning device 200 that needs to rotate a full circle to collect full spatial data, the three-dimensional scanning device 200 according to the embodiment of the present disclosure can greatly reduce the number of required collection angles, thereby improving scanning efficiency while reducing errors caused by multiple mosaics. Figure 4The longitudinal fields of view shown are overlapping, and the overlap between the fields of view of two adjacent imaging units 202 is greater than 10°. This overlapping arrangement facilitates the calibration of the parameters of each imaging unit 202, thereby improving calibration accuracy. Those skilled in the art will understand that the effectiveness of data processing is affected by the calibration accuracy of the imaging units 202. By utilizing overlapping fields of view to reliably calibrate the parameters of the imaging units 202, the processing effect of subsequent data processing can be effectively improved. Furthermore, the overlapping fields of view of the imaging units 202 can reduce or eliminate image distortion that may exist at the edges of the generated image, thereby significantly improving the imaging effect of the final panoramic image.

[0050] To ensure overlapping imaging fields of view for the imaging units 202, the field of view angle of each imaging unit 202 can be adjusted or selected based on the number of imaging units 202. The more imaging units 202 there are, the smaller the field of view angle of a single imaging unit 202 can be. For example, with four imaging units 202, the field of view angle of a single imaging unit 202 can be set to approximately 99°. With three imaging units 202, the field of view angle of a single imaging unit 202 can be set to greater than or equal to approximately 120°. With five imaging units 202, the field of view angle of a single imaging unit 202 can be set to approximately 77°–80°. With six imaging units 202, the field of view angle of a single imaging unit 202 can be set to approximately 60°.

[0051] The field of view of the imaging unit 202 can be set to the desired angle at the factory. In some embodiments, the field of view of the imaging unit 202 can also be adjusted according to an algorithm. For example, the field of view can be reduced by cropping a portion of the image edge using an algorithm. When adjusting the field of view using an algorithm, areas with severe image edge distortion can be cropped, thereby further improving image quality.

[0052] The point cloud field of view 2031 of the point cloud generation unit 203 can be roughly in the shape of a ring cone. For example... Figure 5 As shown, the toroidal cone mentioned here refers to the shape formed by subtracting a coaxial cone with a smaller apex angle from a cone with a larger apex angle (e.g., an obtuse angle or greater than 180°). It should be understood that... Figure 5 The point cloud field of view 2031 of the point cloud generation unit 203 shown is just a cross-sectional shape. The actual shape of the point cloud field of view 2031 is a ring-shaped cone obtained by rotating the cross-sectional shape shown in the figure around the point cloud normal 1011. Figure 5 Due to image size limitations, only the point cloud field of view 2031 and a small portion of the imaging field of view in the radial direction are shown.

[0053] To facilitate parameter calibration between the point cloud generation unit 203 and the imaging unit 202, in some embodiments, such as Figure 5 As shown, the point cloud field of view 2031 of the point cloud generation unit 203 and the imaging field of view 2022 of the imaging unit 202 also partially overlap. On the one hand, when calibrating the imaging unit 202 and the point cloud generation unit 203, this arrangement allows the calibration to be completed using the image data and point cloud data acquired by the 3D scanning device 200 in a static state, thereby improving the calibration accuracy and further improving the fusion effect of image data and point cloud data. On the other hand, since the point cloud generation unit 203 according to the embodiment of this disclosure adopts a ring-cone shaped surface scanning point cloud acquisition method, and the point cloud field of view 2031 and the imaging field of view 2022 partially overlap (for example, the overlap is about 70%), the 3D scanning device according to the embodiment of this disclosure can simultaneously acquire point cloud data and image data about that region by the imaging unit 202 and the point cloud generation unit 203 at least for a certain region (i.e., the region corresponding to the overlapping region) in a certain static state. The processor can immediately fuse the point cloud data and image data corresponding to the region, thereby generating at least a virtual reality image with depth information about that region. This improves both data acquisition efficiency and data fusion quality.

[0054] In some embodiments, the rotation axis R of the plurality of imaging units 202 and point cloud generation unit 203 can be perpendicular to the point cloud normal 1011 and pass through the intersection of the normals 1023. In this way, parallax that may occur during the rotation of the imaging unit 202 and the point cloud generation unit 203 around the rotation axis R can be effectively reduced or eliminated, thereby reducing the workload of subsequent data processing and improving the model creation effect.

[0055] The 3D scanning device 200 employs the mounting device 100 mentioned above to ensure the aforementioned positional relationship between the imaging unit 202 and the point cloud generation unit 203. In some embodiments, the mounting device 100 includes a main mounting bracket 101 and a camera mounting bracket 102. Figure 6 and Figure 7 As can be seen, the main mounting bracket 101 is basically plate-shaped. In some embodiments, the main mounting bracket 101 may extend in the longitudinal direction and include two ends in the extension direction, namely, a first end and a second end opposite to the first end.

[0056] The main mounting bracket 101 comprises a radar mounting portion 1014 adapted to arrange the point cloud generation unit 203. In some embodiments, the radar mounting portion 1014 can be arranged at the first end of the main mounting bracket 101. On the main mounting bracket 101, the positioning of the point cloud generation unit 203 before installation can be achieved by a point cloud generation unit alignment structure. For example, in some embodiments, the point cloud generation unit alignment structure can comprise a plurality of recesses capable of being aligned with corresponding structures on the point cloud generation unit 203. The plurality of recesses can respectively have different cross-sectional shapes, and the cross-sectional shapes can respectively match the cross-sectional shapes of the protruding structures on the point cloud generation unit 203 itself. When it is necessary to install the point cloud generation unit 203, it is only necessary to make the protruding structures of the point cloud generation unit 203 at least partially inserted into the recesses, thereby ensuring the positioning accuracy of the point cloud generation unit 203 on the main mounting bracket 101. Then, the point cloud generation unit 203 with the correct installation posture can be fastened to the main mounting bracket 101 by appropriate fasteners.

[0057] The camera mounting bracket 102 is in a ring structure as a whole. It should be understood that the ring structure referred to herein refers to a cross-sectional shape perpendicular to its axis being substantially ring-shaped, which can include not only a circular ring shape, but also a polygonal ring shape or other appropriate ring shape. The main mounting bracket 101 further comprises an alignment structure (hereinafter referred to as a first alignment structure) for positioning the camera mounting bracket 102. Correspondingly, on the camera mounting bracket 102, a second alignment structure is included. The second alignment structure can be coupled with the first alignment structure mentioned above on the main mounting bracket 101, so that when the camera mounting bracket 102 with the plurality of imaging units 202 installed is mounted on the main mounting bracket 101, the point cloud normal 1011 of the point cloud generation unit 203 passes through the normal intersection 1023 of the imaging normal 1022 of the imaging unit 202. In this way, on the one hand, the installation device 100 ensures that the point cloud normal 1011 of the point cloud generation unit 203 can be perpendicular to the plane in which the normals of the plurality of imaging units 202 lie. This can be beneficial for the rational layout and miniaturization of the components in the three-dimensional scanning device 200. On the other hand, the point cloud normal 1011 of the point cloud generation unit 203 passing through the normal intersection 1023 of the imaging normal 1022 of the imaging unit 202 can significantly reduce the difficulty of calibration of the point cloud generation unit 203 and the imaging unit 202 and later data fusion, thereby improving the reliability of the three-dimensional scanning device 200.

[0058] The camera mounting bracket 102 comprises a plurality of positioning portions 1021 for mounting the plurality of imaging units 202. Each positioning portion 1021 can be used to mount one imaging unit 202. As mentioned above, in some embodiments, the plurality of positioning portions 1021 can be arranged in a ring structure. In some embodiments, the plurality of positioning portions 1021 can be arranged in a polygonal ring structure. In some embodiments, the plurality of positioning portions 1021 can be arranged in a circular ring structure. Figure 1 and Figure 2In the shown example, the camera mounting bracket 102 can include four mounting portions for mounting the four imaging units 202 respectively. It should be understood that this is only illustrative and is not intended to limit the protection scope of the present disclosure. The number of the positioning portions 1021 and the number of the imaging units 202 can be adjusted as needed, for example, to be 3 or 5 or more respectively.

[0059] Each positioning portion 1021 can have a proper shape matching the housing 201 structure of the imaging unit 202 to facilitate mounting the imaging unit 202 into the positioning portion 1021. In addition, in some embodiments, the proper position of the positioning portion 1021 can have a camera alignment structure that can match the alignment structure of the imaging unit 202 itself, so as to ensure the positioning accuracy of the imaging unit 202 in the positioning portion 1021 by matching the two alignment structures.

[0060] In some embodiments, the radar mounting portion 1014 and the camera mounting bracket 102 can both be arranged at the first end of the main mounting bracket 101 in the extension direction. For example, the radar mounting portion 1014 and the camera mounting bracket 102 can be arranged at opposite sides of the main mounting bracket 101 respectively at the first end. In some embodiments, as shown in FIG. 1, the radar mounting portion 1014 and the camera mounting bracket 102 can be arranged at the same side of the main mounting bracket 101 at the first end. Figure 5 As shown, the camera mounting bracket 102 can be arranged at a predetermined distance from the main mounting bracket 101 to facilitate air flow therebetween, so as to facilitate heat dissipation of the various components in the three-dimensional scanning device 200.

[0061] In some embodiments, the mounting device 100 can further include a gimbal mounting bracket 103. The gimbal mounting bracket 103 is arranged at the second end of the main mounting bracket 101 and at the same side of the camera mounting bracket 102. The driving unit 204 is mounted on the main mounting bracket through the gimbal mounting bracket 103.

[0062] In some embodiments, the gimbal mounting bracket 103 can include a pair of mounting bodies 1031. The pair of mounting bodies 1031 can have the same structure and be arranged symmetrically with respect to the center plane of the mounting device 100 for the driving unit 204 to be arranged therebetween. In the case where the normal plane is planar, the center plane of the mounting device 100 is the plane perpendicular to the normal plane and passing through the rotation axis R. Except for the pair of mounting bodies 1031, other parts of the mounting device 100 can also have a symmetric structure with respect to the center plane. On the one hand, this facilitates the mounting device 100 to remain balanced when rotating. On the other hand, this also facilitates the mounting and debugging of the various components of the three-dimensional scanning device 200.

[0063] In some embodiments, in order to ensure that the rotation axis R of the driving unit 204 can pass through the normal intersection 1023 of the imaging normal lines 1022 of the plurality of imaging units 202, each mounting body 1031 in the pair of mounting bodies 1031 in the gimbal mounting bracket 103 can include a positioning structure 1032 arranged on the mutually approaching surfaces of the pair of mounting bodies 1031. The positioning structure 1032 provides positioning for the driving unit 204 by coupling with the driving unit 204. For example, the positioning structure 1032 can be a plurality of protrusions with a specific arrangement. In the proper position of the driving unit 204, there can be a plurality of recesses consistent with the arrangement of the plurality of protrusions. In this way, the precise positioning between the driving unit 204 and the positioning structure 1032 before assembly can be achieved by matching the protrusions with the recesses.

[0064] Similarly, on the pair of mounting bodies 1031 and the main mounting bracket 101, there can also be mutually cooperating alignment structures. When mounting, the alignment structures on the mounting bodies 1031 are first aligned with the alignment structures on the main mounting bracket 101, and then the pair of mounting bodies 1031 are mounted to the main mounting bracket 101 using fasteners or snap connections, etc.

[0065] In some embodiments, the body 1012 of the main mounting bracket 101 and the part where the body 1012 is connected to the side ribs 1013 can be provided with reinforcing ribs. On the one hand, the reinforcing ribs can strengthen the strength of the main mounting bracket 101. On the other hand, the reinforcing ribs can also help to reduce the weight of the main mounting bracket 101, thereby facilitating the light weight of the three-dimensional scanning device 200. In some embodiments, on the body 1012 of the main mounting bracket 101, there can be through holes 1015 for airflow to pass through, thereby facilitating the heat dissipation of the components in the three-dimensional scanning device 200.

[0066] In some embodiments, the main mounting bracket 101 can be integrally formed by molding, etc. This can facilitate the increase of the strength of the main mounting bracket 101. In some embodiments, the camera mounting bracket 102 can also be integrally formed, thereby facilitating the increase of the strength of the camera mounting bracket 102 and the strength of the entire mounting device 100.

[0067] In some embodiments, the main mounting bracket 101 and the camera mounting bracket 102 can be made of an alloy material such as aluminum alloy, etc. On the one hand, this can improve the strength of the entire mounting device 100. On the other hand, the use of alloy devices can facilitate the heat transfer of the components mounted on the mounting device 100, thereby facilitating heat dissipation and further making the three-dimensional scanning device 200 more thermally stable.

[0068] In some embodiments, the main mounting bracket 101 can further include a heat dissipation rib (hereinafter referred to as first heat dissipation rib 1016). The first heat dissipation rib 1016 can be arranged adjacent to one side of the camera mounting bracket 102 and extend along the direction of the airflow. The first heat dissipation rib 1016 can facilitate heat dissipation by increasing the heat dissipation area. In some embodiments, a plurality of second heat dissipation ribs 1024 can also be provided on the camera mounting bracket 102. The second heat dissipation ribs 1024 can be provided at corresponding positions of the positioning portion 1021 of the camera mounting bracket 102 for fixing the imaging unit 202, for example, provided at the inner surface of the annular structure corresponding to the positioning portion 1021, thereby increasing the heat dissipation area and effectively dissipating heat for the imaging unit 202, thereby improving system stability.

[0069] In some embodiments, the main mounting bracket 101 can include a body 1012 and a pair of side ribs 1013. The body 1012 is generally a plate-like mechanism extending along the extension direction, and includes the radar mounting portion 1014 mentioned above at the first end. The imaging unit 202 mounting portion is also mounted at the first end of the body 1012. The pair of side ribs 1013 are symmetrically arranged with respect to the center at the second end of the body 1012 and extend along the extension direction. The side ribs 1013 can provide space for the holder mounting bracket 103 to be arranged therebetween. The side ribs 1013 can have a uniform height at the portion for mounting the holder mounting bracket 103, and as the side ribs 1013 extend from this portion to the first end of the body 1012, the height of the side ribs 1013 gradually decreases, as shown in Figure 4 and Figure 5 This can form an overall structure of the mounting device 100 that is small at the top and large at the bottom, thereby more facilitating the improvement of the stability of the mounting device 100.

[0070] The above has described various embodiments of the present disclosure, and the above description is exemplary and is not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles, practical applications, or technical improvements of the technology in the market, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. A three-dimensional scanning apparatus, comprising: a housing (201) including a body, the body including an annular recess (2011) and a hemispherical protrusion (2012) located on one side of the annular recess (2011) in an axial direction; a plurality of imaging units (202) housed in the housing (201) and acquiring image data within an imaging field of view (2022) centered on an imaging normal (1022) radially outward of the annular recess (2011); a point cloud generation unit (203) disposed at least partially in the hemispherical protrusion (2012) and adapted to acquire point cloud data within a point cloud field of view (2031) centered on a point cloud normal (1011) that forms a non-zero angle with a normal plane on which the imaging normals (1022) of the plurality of imaging units (202) lie; and a drive unit (204) adapted to drive the plurality of imaging units (202) and the point cloud generation unit (203) to rotate about a rotation axis (R) and including a disc-shaped portion (2041) exposed to an outside of the housing (201) from an opening in a bottom of the housing (201) and flush with the bottom of the housing (201), the disc-shaped portion (2041) adapted to be coupled with an external fixing member to fix the three-dimensional scanning apparatus on the external fixing member. 2.The three-dimensional scanning apparatus according to claim 1, wherein a plurality of the imaging normals (1022) of the plurality of imaging units (202) intersect at a normal intersection point (1023). 3.The three-dimensional scanning apparatus according to claim 2, wherein the point cloud normal (1011) passes through the normal intersection point (1023). 4.The three-dimensional scanning apparatus according to claim 1, wherein the normal plane on which the imaging normals (1022) of the plurality of imaging units (202) lie is a plane, and the point cloud normal (1011) is perpendicular to the normal plane. 5.The three-dimensional scanning apparatus according to claim 1, wherein the normal plane on which the imaging normals (1022) of the plurality of imaging units (202) lie is a conical surface, and the point cloud normal (1011) is collinear with a center line of the conical surface. 6.The three-dimensional scanning apparatus according to any one of claims 1-5, wherein the body further includes: a first vent hole (2013) disposed on a side of the annular recess (2011) axially away from the hemispherical protrusion (2012). 7.The three-dimensional scanning apparatus according to claim 6, wherein the body further includes: a second vent hole (2014) formed around the hemispherical protrusion (2012). 8.The three-dimensional scanning apparatus according to claim 6, wherein the annular recess (2011) is recessed between a first protruding portion (2015) and a second protruding portion (2016) of the body, and wherein The first protruding portion (2015) is located between the annular recess (2011) and the semispherical protruding portion (2012), and the first vent hole (2013) is arranged at an end of the second protruding portion (2016) in an axial direction of the annular recess (2011). 9.The three-dimensional scanning device of claim 2 or 3, further comprising: a mounting device (100) arranged in the housing (201) and comprising: a camera mounting bracket (102) in an annular structure and comprising a plurality of positioning portions (1021) arranged in a circumferential direction for positioning a plurality of imaging units (202) such that the plurality of imaging units (202) are arranged in a circumferential direction. 10.The three-dimensional scanning device of claim 9, wherein the mounting device (100) further comprises: a main mounting bracket (101) comprising a first alignment structure and a radar mounting portion adapted to arrange the point cloud generating unit (203), and wherein the camera mounting bracket (102) comprises a second alignment structure adapted to be coupled with the first alignment structure such that a point cloud normal (1011) of the point cloud generating unit passes through the normal intersection point (1023). 11.The three-dimensional scanning device of claim 10, wherein the mounting device (100) further comprises: a gimbal mounting bracket (103) arranged at an end of the main mounting bracket (101) opposite to the camera mounting bracket (102) and located at a same side as the camera mounting bracket (102), and wherein the driving unit (204) is fixed to the main mounting bracket (101) via the gimbal mounting bracket (103) to drive the plurality of imaging units (202) and the point cloud generating unit (203) to rotate along the rotation axis (R) via the main mounting bracket (101). 12.The three-dimensional scanning device of claim 11, wherein the rotation axis (R) is perpendicular to the point cloud normal (1011) and passes through the normal intersection point (1023). 13.The three-dimensional scanning device of claim 10, wherein the housing (201) further comprises: a bottom cover coupled to a bottom of the body away from the annular recess (2011), the bottom cover comprising a third vent hole (2017). 14.The three-dimensional scanning device of claim 11, wherein the gimbal mounting bracket (103) comprises: a pair of mounting bodies (1031) arranged symmetrically based on a center of the mounting device (100) for the driving unit (204) to be arranged therebetween. 15.The three-dimensional scanning device of claim 10, wherein the camera mounting bracket (102) is arranged to be spaced apart from the main mounting bracket (101) by a predetermined distance. 16.The three-dimensional scanning device of claim 10, wherein the main mounting bracket (101) comprises a through hole (1015) for airflow to pass through.

17. The three-dimensional scanning apparatus according to any one of claims 10-16, wherein the main mounting bracket (101) further comprises: a first heat dissipation rib (1016) arranged on a side adjacent to the camera mounting bracket (102) and extending in a direction of air flow.

18. The three-dimensional scanning apparatus according to any one of claims 10-16, wherein the main mounting bracket (101) and the camera mounting bracket (102) are respectively integrally formed.

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